四轴联动系统在带凸缘的马鞍形焊接中的枪姿误差分析

Error analysis of welding torch posture of four-axis linkage system in the saddle-shaped welding with a flange

简化的马鞍形焊接系统存在焊枪姿态误差,其适用范围与焊枪姿态误差大小的最大值密切相关。为了合理选用四轴联动马鞍形焊接系统,针对带凸缘的正交马鞍形焊接,运用空间解析几何原理进行了焊枪姿态误差分析,导出了五轴联动系统(θ,r,h,α,β)简化为四轴联动系统(θ,r,h,β)后焊枪前后倾角的误差公式。利用MATLAB进行作图分析,得到最大前后倾角与接管凸缘半径与筒体半径比值、焊枪旋转角度之间的关系。结果表明,带凸缘的正交马鞍形焊接时,凸缘半径与筒体半径比值对焊枪最大前后倾角有直接影响。

There existed an error of the welding torch posture in simplified saddle-shaped welding system,and its application range was closely related to the maximum of the error of the welding torch posture.In order to make a reasonable selection of the four-axis linkage in welding saddle-shaped system when producing,for the orthogonal saddle-shaped welding with a flange,we utilized the principle of the space analytic geometry to carry out an error analysis of the welding torch posture,in this way,an error formula of welding tangential slope of four-axis linkage system （θ ,r,h,β ） which simplified from the five-axis linkage system （θ ,r,h,α ,β ） was also derived.Having used MATLAB to carry out the mapping analysis,we have gotten the relationship among the maximum of welding tangential slope,the ratio of flange radius and cylinder,and the rotation of the torch.The results showed that,when welding the orthogonal and saddle-shaped flange,the ratio of the flange radius and cylinder had a direct impact on the maximum of welding tangential slope.